clion_remote_debug

setup clion remote debug with ros2 and docker

Docker setting

1. Install pkgs

sudo apt-get update \
  && sudo apt-get install -y ssh \
      build-essential \
      gcc \
      g++ \
      gdb \
      clang \
      cmake \
      rsync \
      tar \
      python

2. Add group and user

2.1 New group and user

Add new group and user (recommended)

groupadd -g 1011 test
useradd -m testuser -g test -G root
echo 'testuser:123' | chpasswd

2.2 Existed group and user

If existed group, need to change group authority and add a new user(better to ignore existed user):

(such as 'user' is the existed group, add new user 'sftpuser' to it)

useradd -m sftpuser -g user
echo 'sftpuser:123' | chpasswd

2.3 Modify group authority by sudoers file(Optional).

Firstly, open write authority of sudoers file:

chmod u+w /etc/sudoers

Secondly, add text "user ALL=(ALL:ALL) ALL" into sudoers file

vim /etc/sudoers

Thirdly, close write authority of sudoers file:

chmod u+w /etc/sudoers

3. Modify sshd_config

Write the text below into /etc/ssh/sshd_config file

Port 202
PasswordAuthentication yes
PermitEmptyPasswords no
PermitRootLogin yes
UsePAM no
Subsystem sftp internal-sftp
Match Group testuser
    ChrootDirectory /
    ForceCommand internal-sftp
    AllowTcpForwarding no
    X11Forwarding no

Important !!!!!

3.1 name

The name follow Match Group must be the name with the user you add, do not use group name.

3.2 port

The port must be the same with the docker you used.

4. Save change into docker

docker commit -a "shanph" -m "upgrade" 7c8c8fbb58eb shanph:test

The 7c8c8fbb58eb is check with:

docker ps -a

5. Run docker(port must be same with that in sshd_config file)

Whatever command you used to run docker, must have the option -p, such as:

docker run -d --cap-add sys_ptrace -p127.0.0.1:202:202 --name clion_remote_env clion/remote-cpp-env:0.5

or just as single option in run shell:

-p 202:202

Clion setting

In short, you should add a new Toolchain entry in settings under Build, Execution, Deployment as a Remote Host type. Then click in the Credentials section and fill out the SSH credentials we set-up in the Dockerfile (Host: localhost, Port: 2222, User name: user, Password: password). Finally, add a CMake profile that uses this toolchain(remote). If you want more fine grained control over the paths used inside the container take a look at the Deployment settings page.

ROS2 setting

Firstly, run docker, cd to your ros2 workspace, compile and source current ws:

cd ros2_ws
. /opt/ros/foxy/setup.bash
colcon build --symlink-install
. install/setup.bash

Then copy env.sh to your ros2 workspace(env.sh is provided in my project), get the environment param.

./env.sh

Copy the output to CLion -> CMake -> Environment.

Now, all is finished.

Enjoy yourself.

Others

1. Can not find custom package

Such as the costmap_converter for teb. costmap_converter pkg is not installed because I want to use the custom version. But at the begin, cannot find it.

Could not find a package configuration file provided by “costmap_converter” with any of the following names

Solve by set pkg_DIR before find_package.

set(costmap_converter_DIR /midea_robot/ros2_ws/build/costmap_converter)

Because colcon build is corrected. In build folder, there are **Config.cmake files. We can use the files to find the pkg.

2. Open colcon compile option to show which lib linked.

Use the command to show compile process.

colcon build --symlink-install --event-handlers console_direct+

Solve 'cannot create directory' problem

mp4 to gif

ffmpeg \
-i clion_remote_docker_debug-2021-05-12_23.29.07.mp4 \
-r 30 \
-vf "scale=512:-1,split[s0][s1];[s0]palettegen[p];[s1][p]paletteuse" \
-ss 00:00:00 -to 00:00:42 \
cannot_create_directory.gif

shanpenghui / clion_remote_debug